CN106395430A - 3D stereoscopic vision auxiliary car loading and unloading system - Google Patents

3D stereoscopic vision auxiliary car loading and unloading system Download PDF

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Publication number
CN106395430A
CN106395430A CN201611035037.3A CN201611035037A CN106395430A CN 106395430 A CN106395430 A CN 106395430A CN 201611035037 A CN201611035037 A CN 201611035037A CN 106395430 A CN106395430 A CN 106395430A
Authority
CN
China
Prior art keywords
robot
article
loading
compartment
unloading vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN201611035037.3A
Other languages
Chinese (zh)
Inventor
黄怡
张双生
何学峰
王春梅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou dayilong Packing Machinery Co Ltd
Original Assignee
NANJING JINGYAO INTELLIGENT SCIENCE & TECHNOLOGY Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NANJING JINGYAO INTELLIGENT SCIENCE & TECHNOLOGY Co Ltd filed Critical NANJING JINGYAO INTELLIGENT SCIENCE & TECHNOLOGY Co Ltd
Priority to CN201611035037.3A priority Critical patent/CN106395430A/en
Publication of CN106395430A publication Critical patent/CN106395430A/en
Withdrawn legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00Loading or unloading vehicles
    • B65G67/02Loading or unloading land vehicles
    • B65G67/04Loading land vehicles
    • B65G67/08Loading land vehicles using endless conveyors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00Loading or unloading vehicles
    • B65G67/02Loading or unloading land vehicles
    • B65G67/24Unloading land vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G69/00Auxiliary measures taken, or devices used, in connection with loading or unloading

Abstract

The invention discloses a 3D stereoscopic vision auxiliary car loading and unloading system. The system comprises an object telescopic conveying belt (1), a car loading and unloading robot (2), a robot telescopic mechanism (3) and a control processing system (4); the object telescopic conveying belt (1) and the robot telescopic mechanism (3) are parallel; the object telescopic conveying belt (1) and the robot telescopic mechanism (3) synchronously move through the control processing system (4); by the adoption of the device, objects can be automatically conveyed to a compartment and automatically stacked, the accurate position of boxing and stacking can be automatically detected, the phenomenon that during car loading, wrong stacking or leakage appears is avoided, the car loading safety is improved, unmanned car loading and unloading work is achieved, the manual cost is reduced, and work efficiency is effectively improved.

Description

A kind of 3D stereoscopic vision assists loading-unloading vehicle system
Technical field
The present invention relates to loading-unloading vehicle field, assist loading-unloading vehicle system particularly to a kind of 3D stereoscopic vision.
Background technology
Handling goods work is that the industries such as storage, manufacture carry out key operation flow process necessary to circulation of goods, is to limit The main cause of circulation of goods conevying efficiency.Traditional handling goods is using manually by article move-in/move-out lorry or borrow one by one With fork truck by whole for the article of piling bag move-in/move-out lorry, working strength high efficiency low it is also possible to there is industrial injury or break Article, also cannot neat piling article during loading.Existing loading apparatus rely primarily on the equipment such as conveyer belt, crane and enter crudely-made articles The conveying of product, such mode reduces the labor intensity during entrucking to a certain extent, if automatically by article from storehouse Storehouse is carried near lorry/compartment, but remains a need for manually carrying out carrying, stacking and the de-stacking of in-car.
Content of the invention
For above-mentioned deficiency, present invention solves the technical problem that being to provide a kind of 3D stereoscopic vision auxiliary loading-unloading vehicle system System, realizes article piling and the de-stacking within boxcar.
The technical scheme is that:A kind of 3D stereoscopic vision assists loading-unloading vehicle system, including article telescopic conveyor, dress Unload robot, robot telescoping mechanism and control process system;Described article telescopic conveyor and described robot telescopic machine Structure is parallel;Described article telescopic conveyor and described robot telescoping mechanism are moved by described control process system synchronization;Institute The one end stating robot telescoping mechanism is fixing end, is held within the handling cargo pier of vehicle exterior, described robot is stretched Described loading-unloading vehicle robot is arranged on the other end of contracting mechanism, described robot telescoping mechanism drives described loading-unloading vehicle robot to move Dynamic, change front and back position in compartment for the described loading-unloading vehicle robot;One end of described article telescopic conveyor is fixing end, Gu It is scheduled on the handling cargo pier of vehicle exterior, the other end is located at described loading-unloading vehicle robot side, article pass through described thing Product telescopic conveyor moves in compartment or transports in compartment.
Described article telescopic conveyor front end is provided with station, and described station is crawl or the release station of article;Described work Position front end is provided with cut-off plate, is used for preventing article from exceeding described station.
Described loading-unloading vehicle robot includes industrial robot, fixture and 3D vision sensor;Described fixture is arranged on industry The working end of robot, for crawl or releasing;Described 3D vision sensor is arranged on described industrial robot, is used for Obtain the compartment 3D indoor setting in front of described industrial robot;Described control process system obtains what described 3D vision sensor obtained Data, and the asset position information that will calculate after processing is sent to described industrial robot, described industrial robot drive is described Fixture carries out entrucking from described station crawl article piling to specified location, or unloads to described work from specified location crawl article Position.
Described robot telescoping mechanism is telescopic fork, and the part that described telescopic fork stretches into compartment is telescopic;Described thing The part that product telescopic conveyor stretches into compartment is telescopic.
Described article telescopic conveyor is partly hanging in compartment, described article telescopic conveyor upper surface and carriage top The distance between portion is more than the height of article, and the distance apart from car vertical face for the described station is more than the width of article;Institute State robot telescoping mechanism partly hanging in compartment, the distance apart from car vertical face for the described robot telescoping mechanism is more than The distance between the width of one article, described robot telescoping mechanism upper surface and car body top are more than described loading-unloading vehicle machine The height of people.
The data that described control process system obtains also by described 3D vision sensor, calculates and revises described robot Telescoping mechanism and described article telescopic conveyor are with respect to the direction attitude in compartment.
Described article telescopic conveyor can rotate around fixing end;Described robot telescoping mechanism can revolve around fixing end Turn.
The invention has the beneficial effects as follows article conveying, a series of processes of piling can fully automatically be completed, effectively improve Loading-unloading vehicle efficiency and loading-unloading vehicle quality, especially by the application in this field of 3D stereoscopic vision and industrial robot, solve Article cannot be put a neat difficult problem by traditional loading apparatus automatically in order.The system is automatically performed by using telescopic belt The course of conveying of article, by having the accurate location of the 3D stereoscopic vision detection piling of high level of accuracy, controls piling Mechanism executes accurately piling action, effectively prevents error code, the appearance of the leakage phenomenon such as code, can automatic measurement calculating robot with Car position relation, and the attitude orientation by the use adjust automatically machine people of telescopic fork, realize compartment and are automatically aligned, should System suitability is strong, can be applied to the entrucking process in all kinds article, all kinds of compartment.
Brief description
Fig. 1 is general structure schematic diagram of the present invention;
Fig. 2 is the top view of the present invention;
Fig. 3 is the partial enlarged drawing of the present invention;
Fig. 4 is the partial enlarged drawing of the present invention;
In figure:1st, article telescopic conveyor;11st, station;12nd, end plate;2nd, loading-unloading vehicle robot;21st, industrial robot;22、 Fixture;23rd, 3D vision sensor;3rd, robot telescoping mechanism;4th, control process system;5th, load and unload cargo pier.
Specific embodiment
It is further elaborated with reference to being embodied as case.
A kind of 3D stereoscopic vision auxiliary loading system that the present invention improves, as shown in Figure 1, Figure 2 and Figure 3, including a kind of 3D Stereoscopic vision assists loading-unloading vehicle system, including article telescopic conveyor 1, loading-unloading vehicle robot 2, robot telescoping mechanism 3 and control Processing system 4 processed;Described article telescopic conveyor 1 is parallel with described robot telescoping mechanism 3;Described article telescopic conveyor 1 With described robot telescoping mechanism 3 by described control process system 4 synchronizing moving;One end of described robot telescoping mechanism 3 For fixing end, it is held within the handling cargo pier 5 of vehicle exterior, the other end of described robot telescoping mechanism 3 is arranged Described loading-unloading vehicle robot 2, described robot telescoping mechanism 3 drives described loading-unloading vehicle robot 2 mobile, changes described loading-unloading vehicle Front and back position in compartment for the robot 2;One end of described article telescopic conveyor 1 is fixing end, is held within outside compartment On the handling cargo pier 5 in portion, the other end is located at described loading-unloading vehicle robot 2 side, and article pass through described article telescopic conveyor 1 Move in compartment or transport in compartment.
Described article telescopic conveyor 1 as shown in figure 4, front end is provided with station 11, described station 11 be article crawl or Release station;Described station 11 front end is provided with cut-off plate 12, is used for preventing article from exceeding described station 11.
Described loading-unloading vehicle robot 2 includes industrial robot 21, fixture 22 and 3D vision sensor 23;Described fixture 22 is pacified It is contained in the working end of industrial robot, for crawl or releasing;Described 3D vision sensor 23 is arranged on described industrial machine On device people 21, for obtaining the compartment 3D indoor setting in described industrial robot 21 front;Described control process system 4 obtains described 3D The data of vision sensor 23 acquisition, and the asset position information that will calculate after processing is sent to described industrial robot 21, institute Stating industrial robot 21 drives described fixture 22 to carry out entrucking from described station 11 crawl article piling to specified location, or from finger Positioning is put crawl article and is unloaded to described station 11.
Described robot telescoping mechanism 3 is telescopic fork, and the part that described telescopic fork stretches into compartment is telescopic;Described thing The part that product telescopic conveyor 1 stretches into compartment is telescopic.
Described article telescopic conveyor 1 is partly hanging in compartment, described article telescopic conveyor 1 upper surface and compartment The distance between top is more than the height of article, and the distance apart from car vertical face for the described station 11 is more than the width of article Degree;Described robot telescoping mechanism 3 is partly hanging in compartment, and described robot telescoping mechanism 3 is apart from car vertical face More than the width of article, the distance between described robot telescoping mechanism 3 upper surface and car body top are more than described for distance The height of loading-unloading vehicle robot 2.
The data that described control process system 4 obtains also by described 3D vision sensor 23, calculates and revises described machine Device people's telescoping mechanism 3 and described article telescopic conveyor 1 are with respect to the direction attitude in compartment.
Described article telescopic conveyor 1 can rotate around fixing end;Described robot telescoping mechanism 3 can revolve around fixing end Turn.
Compared with prior art, a kind of 3D stereoscopic vision auxiliary loading-unloading vehicle system that the present invention provides, three-dimensional by 3D The application in this field of vision and industrial robot, solves traditional loading apparatus and article cannot be put neat difficulty in order Topic, the system effectively can be prevented by mistake by having the accurate location of the 3D stereoscopic vision detection piling of high level of accuracy Code, the appearance of the leakage phenomenon such as code, can automatic measurement calculating robot and car position relation, the attitude of adjust automatically machine people Orientation, realizes compartment and is automatically aligned, and fully automatically completes article conveying, a series of processes of piling, effectively improves loading-unloading vehicle effect Rate and loading-unloading vehicle quality, are used in various loading-unloading vehicle occasions.

Claims (5)

1. a kind of 3D stereoscopic vision auxiliary loading-unloading vehicle system is it is characterised in that include article telescopic conveyor(1), loading-unloading vehicle machine Device people(2), robot telescoping mechanism(3)With control process system(4);Described article telescopic conveyor(1)With described robot Telescoping mechanism(3)Parallel;Described article telescopic conveyor(1)With described robot telescoping mechanism(3)By described control process System(4)Synchronizing moving;Described robot telescoping mechanism(3)One end be fixing end, be held within the handling of vehicle exterior Cargo pier(5)On, described robot telescoping mechanism(3)The other end on described loading-unloading vehicle robot is set(2), described robot Telescoping mechanism(3)Drive described loading-unloading vehicle robot(2)Mobile, change described loading-unloading vehicle robot(2)Before and after in compartment Position;Described article telescopic conveyor(1)One end be fixing end, be held within the handling cargo pier of vehicle exterior(5)On, The other end is located at described loading-unloading vehicle robot(2)Side, article pass through described article telescopic conveyor(1)Move in compartment or Transport in compartment;
Described article telescopic conveyor(1)Front end is provided with station(11), described station(11)It is crawl or the release station of article; Described station(11)Front end is provided with cut-off plate(12), it is used for preventing article from exceeding described station(11);
Described loading-unloading vehicle robot(2)Including industrial robot(21), fixture(22)With 3D vision sensor(23);Described fixture (22)It is arranged on the working end of industrial robot, for crawl or releasing;Described 3D vision sensor(23)It is arranged on institute State industrial robot(21)On, for obtaining described industrial robot(21)The compartment 3D indoor setting in front;Described control process system System(4)Obtain described 3D vision sensor(23)The data of acquisition, and the asset position information that will calculate after processing is sent to institute State industrial robot(21), described industrial robot(21)Drive described fixture(22)From described station(11)Crawl article piling Carry out entrucking to specified location, or unload to described station from specified location crawl article(11).
2. a kind of 3D stereoscopic vision auxiliary loading-unloading vehicle system according to claim 1 is it is characterised in that described robot is stretched Contracting mechanism(3)For telescopic fork, the part that described telescopic fork stretches into compartment is telescopic;Described article telescopic conveyor(1)Stretch The part entering compartment is telescopic.
3. a kind of 3D stereoscopic vision auxiliary loading-unloading vehicle system according to claim 1 is it is characterised in that described article stretch Conveyer belt(1)Partly hanging in compartment, described article telescopic conveyor(1)The distance between upper surface and car body top are big In the height of article, described station(11)Distance apart from car vertical face is more than the width of article;Described robot is stretched Contracting mechanism(3)Partly hanging in compartment, described robot telescoping mechanism(3)Distance apart from car vertical face is more than one The width of article, described robot telescoping mechanism(3)The distance between upper surface and car body top are more than described loading-unloading vehicle machine People(2)Height.
4. a kind of 3D stereoscopic vision auxiliary loading-unloading vehicle system according to claim 1 is it is characterised in that described control process System(4)Also by described 3D vision sensor(23)The data obtaining, calculates and revises described robot telescoping mechanism(3)With Described article telescopic conveyor(1)With respect to the direction attitude in compartment.
5. a kind of 3D stereoscopic vision auxiliary loading-unloading vehicle system according to claim 1 is it is characterised in that described article stretch Conveyer belt(1)Can rotate around fixing end;Described robot telescoping mechanism(3)Can rotate around fixing end.
CN201611035037.3A 2016-11-24 2016-11-24 3D stereoscopic vision auxiliary car loading and unloading system Withdrawn CN106395430A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611035037.3A CN106395430A (en) 2016-11-24 2016-11-24 3D stereoscopic vision auxiliary car loading and unloading system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611035037.3A CN106395430A (en) 2016-11-24 2016-11-24 3D stereoscopic vision auxiliary car loading and unloading system

Publications (1)

Publication Number Publication Date
CN106395430A true CN106395430A (en) 2017-02-15

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110023214A (en) * 2018-05-10 2019-07-16 深圳蓝胖子机器人有限公司 A kind of cargo handler and cargo transfer system
CN110182500A (en) * 2018-02-23 2019-08-30 因特利格雷特总部有限责任公司 Method and system for operative material haulage equipment
WO2019213900A1 (en) * 2018-05-10 2019-11-14 深圳蓝胖子机器人有限公司 Cargo loading/unloading vehicle, cargo transfer system, and automatic leveling method for cargo loading/unloading vehicle
CN112278891A (en) * 2020-12-29 2021-01-29 南京景曜智能科技有限公司 Carriage internal attitude detection method

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110182500A (en) * 2018-02-23 2019-08-30 因特利格雷特总部有限责任公司 Method and system for operative material haulage equipment
CN110023214A (en) * 2018-05-10 2019-07-16 深圳蓝胖子机器人有限公司 A kind of cargo handler and cargo transfer system
WO2019213904A1 (en) * 2018-05-10 2019-11-14 深圳蓝胖子机器人有限公司 Cargo loading and unloading vehicle and cargo transfer system
WO2019213900A1 (en) * 2018-05-10 2019-11-14 深圳蓝胖子机器人有限公司 Cargo loading/unloading vehicle, cargo transfer system, and automatic leveling method for cargo loading/unloading vehicle
CN110023214B (en) * 2018-05-10 2021-07-16 深圳蓝胖子机器人有限公司 Cargo loading and unloading vehicle and cargo transferring system
CN112278891A (en) * 2020-12-29 2021-01-29 南京景曜智能科技有限公司 Carriage internal attitude detection method
CN112278891B (en) * 2020-12-29 2021-04-02 南京景曜智能科技有限公司 Carriage internal attitude detection method

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PB01 Publication
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TA01 Transfer of patent application right

Effective date of registration: 20171110

Address after: 510530 No. 23, Yun Pu Road, Whampoa District, Guangzhou, Guangdong

Applicant after: Guangzhou dayilong Packing Machinery Co Ltd

Address before: Dong Qi Road in Jiangning District of Nanjing City, Jiangsu province 211100 No. 277 kylin Technology Park 15 5 floor

Applicant before: NANJING JINGYAO INTELLIGENT SCIENCE & TECHNOLOGY CO., LTD.

Effective date of registration: 20171110

Address after: 510530 No. 23, Yun Pu Road, Whampoa District, Guangzhou, Guangdong

Applicant after: Guangzhou dayilong Packing Machinery Co Ltd

Address before: Dong Qi Road in Jiangning District of Nanjing City, Jiangsu province 211100 No. 277 kylin Technology Park 15 5 floor

Applicant before: NANJING JINGYAO INTELLIGENT SCIENCE & TECHNOLOGY CO., LTD.

TA01 Transfer of patent application right
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WW01 Invention patent application withdrawn after publication

Application publication date: 20170215

WW01 Invention patent application withdrawn after publication